Adjusting a Bandwidth of GNSS Receivers

ABSTRACT

Embodiments of the invention provide a method of adjusting a bandwidth of receivers. A plurality of outputs from a correlator engine are combined. User dynamics are sensed. Bandwidth of one or more receivers are adjusted. By detecting when the user is stationary, the Doppler frequency estimation can be corrected or the SNR can be boosted more both of which lead to improved performance. The embodiments allow a receiver to process signals in when the signal level would otherwise be too low—for example indoors. The embodiments can improve performance when one or more satellites are temporarily blocked but one or more satellites are still being tracked.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Divisional of and claims priority under 35 U.S.C.§120 to U.S. application Ser. No. 12/565,927, filed on Sep. 24, 2008.This application is related to co-pending U.S. patent application Ser.No. 12/394,404, filed on Feb. 27, 2009, entitled METHOD AND SYSTEM FORGNSS COEXISTENCE. This application is related to co-pending U.S. patentapplication Ser. No. 12/568,084, filed on Sep. 28, 2009, entitledLOW-COMPLEXITY TIGHTLY-COUPLED INTEGRATION FILTER FOR SENSOR-ASSISTEDGNSS RECEIVER, (Docket Number TI-67103), which claims priority under 35U.S.C. S119(e) to U.S. Provisional Application No. 61/100,325, filed onSep. 26, 2009. All of said applications incorporated herein byreference.

BACKGROUND

Embodiments of the invention are directed, in general, to communicationsystems and, more specifically, methods of detecting lack of movement toaid GNSS receivers.

As Global Navigation Satellite System (GNSS) receivers become morecommon, users continue to expect improved performance in increasinglydifficult scenarios. GNSS receivers may process signals from one or moresatellites from one or more different satellite systems. Currentlyexisting satellite systems include global positioning system (GPS), andthe global navigation satellite system (GLONASS). Systems expected tobecome operational in the near future include Galileo, quazi-zenithsatellite system (QZSS), and Beidou. For many years, inertial navigation(IN) systems have been used in high-cost applications such as airplanesto aid GNSS receivers in difficult environments. One example that usesinertial sensors to allow improved carrier-phase tracking may be foundin A. Soloviev, S. Gunawardena, and F. van Graas, “Deeply integratedGPS/Low-cost IMU for low CNR signal processing: concept description andin-flight demonstration,” Journal of the Institute of Navigation, vol.55, No. 1, Spring 2008; incorporated herein by reference. The recenttrend is to try to integrate a GNSS receiver with low-cost inertialsensors to improve performance when many or all satellite signals areseverely attenuated or otherwise unavailable. The high-cost and low-costapplications for these inertial sensors are very different because ofthe quality and kinds of sensors that are available. The problem is tofind ways that inexpensive or low-cost sensors can provide usefulinformation to the GNSS receiver.

Low-cost sensors may not be able to provide full navigation data. Orthey may only work in some scenarios. For example, an inertial sensormay be accurate while it is in a car, but inaccurate when carried by apedestrian. In the past, most integration techniques for GNSS receiversand sensors assumed the sensors constituted a complete stand-alonenavigation system or that its expensive components allow it to giveprecise measurements. Low-cost sensors cannot always allow for theseassumptions. In addition, traditionally the IN system is assumed to befully calibrated, which is not always possible.

One of the challenging use-cases for a GNSS receiver is when it is in anenvironment with poor satellite visibility (such as indoors) S. Schon,O. Bielenberg, “On the capability of high sensitivity GPS for preciseindoor positioning,” 5^(th) Workshop on Positioning, Navigation andCommunication, pp. 121-127, March 2008; incorporated herein byreference. The typical approach is to integrate the received signal overa longer duration to boost the SNR enough to be able to synchronize tothe satellites F. van Diggelen, “Indoor GPS theory & implementation,”IEEE Position Location and Navigation Symposium, pp 240-247, April 2002;incorporated herein by reference. This approach is feasible, but is verycomplex when the satellite signal levels are low. The proposed solutionis better than this idea in several ways that are discussed below. Otherexisting approaches use other types of signals for determining locationindoors, or use both GNSS signals and other signals in difficultscenarios J. Gonzalez, J. L. Blanco, et. al, “Combination of UWB and GPSfor indoor-outdoor vehicle localization,” IEEE International Symposiumon Intelligent Signal Processing, pp. 1-6, Oct. 2007; incorporatedherein by reference. This proposal focuses on improving the performanceof GNSS signals since they are the most reliable signals, and they areuniversally available already. However, the GNSS signals when processedas we propose here can also be used along with the processing of othersignals.

GNSS receivers rely on correlating a known pseudo random sequence (alsocalled a PN sequence) with the received signal to synchronize to thetransmitted signal. For different GNSS systems the PN sequences aredifferent, different patterns, different lengths, etc. Typically, theresults of correlating the PN sequence to different segments of thereceived signal are combined to increase the SNR. A coherent combinationis when the correlation results are added after compensating for phaserotation. One kind of non-coherent combination adds the magnitude of thecorrelation results. Due to phase differences between the correlationresults, the coherent combination provides more SNR gain if the phase isknown with sufficient accuracy. In many cases a data bit is modulatedonto the PN sequence at the transmitter. This data bit can be seen as achange in phase, so it doesn't affect the non-coherent combination, butif the phase changes due to the data-bits aren't accounted for they canseverely degrade the coherent combination.

The global positioning system (GPS) is a system using GPS satellites forbroadcasting GPS signals having information for determining location andtime. Each GPS satellite broadcasts a GPS signal having message datathat is unique to that satellite. The message for a Coarse/Acquisition(C/A) format of the GPS signal has data bits having twenty millisecondtime periods. The twenty millisecond data bits are modulated by a onemillisecond pseudorandom noise (PRN) code having 1023 bits or chips. ThePRN code for each GPS satellite is distinct, thereby enabling a GPSreceiver to distinguish the GPS signal from one GPS satellite from theGPS signal from another GPS satellite. The twenty millisecond GPS databits are organized into thirty second frames, each frame having fifteenhundred bits. Each frame is subdivided into five subframes of sixseconds, each subframe having three hundred bits.

One of the important figures of merit for a GPS receiver is its time tofirst fix, or the time period that it takes the GPS receiver from thetime that it is turned on to the time that it begins providing itsposition and/or time to a user. In order to make this time period short,GPS receivers may be designed for what is sometimes known as a hotstart. For a hot start, the GPS receiver starts acquisition withinformation for its own approximate location, an approximate clock time,and ephemeris parameters for the locations-in-space of the GPSsatellites.

For a hot start, when the GPS receiver is turned on or returns to activeoperation from a standby mode, the GPS receiver processes itsapproximate time and location with the almanac or ephemeris informationto determine which of the GPS satellites should be in-view and generatesGPS replica signals having carrier frequencies and pseudorandom noise(PRN) codes matching the estimated Doppler-shifted frequencies and thePRN codes of the in-view GPS satellites. A search pattern or fastFourier transform is used to find correlation levels between the replicasignals and the carrier frequency and the PRN code of the incoming GPSsignal. A high correlation level shows that GPS signal acquisition hasbeen achieved at the frequency, code and code phase of the replica andthe GPS receiver may begin tracking the frequency and thetime-of-arrival of the code of the incoming GPS signals. At this pointthe GPS receiver knows the timing of the GPS data bits but it cannotdetermine its position because it does not yet know the absolute GPSclock time.

The GPS clock time is conventionally determined by monitoring the GPSdata bits until a TLM is recognized for the start of a subframe.Following the TLM word, the GPS receiver reads a Zcount in the GPS databits in a hand over word (HOW) to learn a GPS clock time. A currentprecise location-in-space of the GPS satellite is calculated from theGPS clock time and the ephemeris information. The time-of-arrival of thecode of the GPS replica signal is then used to calculate a pseudorangebetween the location of the GPS receiver and the location-in-space ofthe GPS satellite. The geographical location fix is derived bylinearizing the pseudorange for the approximate location of the GPSreceiver and then solving four or more simultaneous equations having thelinearized pseudoranges for four or more GPS satellites.

What is needed is Improved GNSS performance in harsh environments suchas indoors, parking garages, deep urban canyons, and the like.

BRIEF DESCRIPTION OF THE DRAWINGS

Having thus described the invention in general terms, reference will nowbe made to the accompanying drawings, which are not necessarily drawn toscale, and wherein:

FIG. 1 is a block diagram of a global positioning system (GPS) receiverknown in the art.

FIG. 2 is a block diagram showing an embodiment of the invention.

FIG. 3 is a block diagram illustrative of a receiver system inaccordance with an embodiment of the invention.

FIG. 4 is a block diagram illustrative of a block-based receiver inaccordance with another embodiment of the invention.

FIG. 5 is a block diagram illustrative of a block-based receiver inaccordance with a further embodiment of the invention.

FIG. 6 is a block diagram illustrative of a receiver in accordance witha further embodiment of the invention.

FIG. 7 is a block diagram illustrative of an uncertainty in a GNSSreceiver in accordance with an embodiment of the invention.

FIG. 8 is a flowchart illustrative of a method in accordance with anembodiment of the invention.

FIG. 9 is a flowchart illustrative of another method in accordance withan embodiment of the invention.

DETAILED DESCRIPTION

The invention now will be described more fully hereinafter withreference to the accompanying drawings. This invention may, however, beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein. Rather, these embodiments areprovided so that this disclosure will be thorough and complete, and willfully convey the scope of the invention to those skilled in the art. Oneskilled in the art may be able to use the various embodiments of theinvention.

FIG. 1 is a block diagram of a global positioning system (GPS) receiver10 known in the art. The GPS receiver 10 includes a GPS antenna 12, asignal processor 14, a navigation processor 16, a real time clock (RTC)18, a GPS time detector 20, a hot start memory 22, a data updateregulator 30 and a user interface 31. GPS signal sources 32A-D broadcastrespective GPS signals 34A-D. The GPS signal sources 32A-D are normallyGPS satellites. However, pseudolites may also be used. For conveniencethe GPS signal sources 32A-D are referred to as GPS satellites 32 andthe GPS signals 34A-D are referred to as GPS signals 34 with theunderstanding that each of the GPS signals 34A-D is broadcast separatelywith separate GPS message data for each of the GPS signal sources 32A-D.A global navigation satellite system (GNSS) signal source and signal maybe used in place of the GPS signal sources 32 and GPS signals 34. Thereceiver is described in the context of processing GPS signals, but canbe used in the context of processing signals from any satellite system.

In order to more easily understand the embodiments of the invention, thestructural elements of the best mode of the invention are described interms of the functions that they perform to carry out the invention. Itis to be understood that these elements are implemented as hardwarecomponents and software instructions that are read by a microprocessorin a microprocessor system 35 or by digital signal processing hardwareto carry out the functions that are described.

The GPS antenna 12 converts the GPS signals 34 from an incoming airwaveform to conducted form and passes the conducted GPS signals to thesignal processor 14. The signal processor 14 includes a frequencydownconverter; and carrier, code and data bit signal recovery circuits.The frequency downconverter converts the conducted GPS signals to alower frequency and digitizes the lower frequency GPS signals to providedigital GPS signals. The signal recovery circuits operate on the digitalGPS signals to acquire and track the carrier, code and navigation databits for providing respective timing signals 38 and GPS data bit streams40 for each of the GPS satellites 32. Parallel processing of therespective digital GPS signals is preferred so that the timing signals38 and the data bit streams 40 are determined in parallel for severalGPS satellites 32, typically four or more. The timing signals 38generally include code phase, code chip timing, code cycle timing, databit timing, and Doppler tuning.

The timing signals 38 are passed to the navigation processor 16 and thedata bit streams 40 are passed to the GPS time detector 20 and the dataupdate regulator 30. The GPS time detector 20 uses GPS clock timeestimates 42 from the RTC 18 and the data bit streams 40 for determininga true GPS clock time 44 and passes the true GPS clock time 44 to thenavigation processor 16. The navigation processor 16 includes apseudorange calculator and a position detector using the timing signals38 and the GPS clock time 44 for determining pseudoranges between theGPS antenna 12 and the GPS satellites 32 and then using the pseudorangesfor determining a position fix. The navigation processor 16 passes theGPS clock time and position to the user interface 31.

The data update regulator 30 passes a specified collection 48 of databits of the GPS data bit streams 40 to a data chapter memory 50 withinthe GPS time detector 20 for updating a block of GPS message data in thechapter memory 50. The user interface 31 may include keys, a digitalinput/output capability and a display for enabling a user to operate theGPS receiver 10 and view results of the operation of the GPS receiver10. In general the user interface 31 is coupled through themicroprocessor system 35 to each of the other elements of the GPSreceiver 10.

The GPS receiver 10 also includes a standby mode regulator 52. Thestandby mode regulation 52 controls the GPS receiver 10 through controlsignals 54 to have an operation mode and a standby mode. The GPSreceiver 10 may be directed to enter the standby mode at any time fromthe user interface 31.

In the operation mode, the GPS receiver 10 acquires the GPS signals 34and determines a true GPS clock time 44; and uses the GPS clock time 44for determining a two or three dimensional position fix. If time only isrequired, the GPS receiver 10 returns to the standby mode withoutdetermining the position fix. During the standby mode, the GPS receiver10 reduces its power consumption and maintains standby data, includingits position, in the hot start memory 22 for a state of readiness. Thestandby data includes the last known GPS time and position of the GPSreceiver 10. Data for GPS ephemeris and almanac orbital parameters 56 isstored in the hot start memory 22 or the chapter memory 50.

When the GPS receiver 10 enters the operation mode after a time periodin the standby mode, the signal processor 14 uses the GPS clock timeestimates 42, the almanac or ephemeris parameters and the standby datafor quickly providing the signal timing signals 38 and the data bitstream 40. The navigation processor 16 uses the GPS clock time 44, thestored ephemeris parameters, and the timing signals 38 in order tocompute a first position fix for what is known as a hot start fast timeto first fix (TTFF). The microprocessor system 35 is interconnected forcontrolling the signal processor 14, navigation processor 16, real timeclock (RTC) 18, GPS time detector 20, hot start memory 22, data updateregulator 30, user interface 31, data chapter memory 50 and standby moderegulator 52. The functions of the signal processor 14, navigationprocessor 16, real time clock (RTC) 18, GPS time detector 20, hot startmemory 22, data update regulator 30, user interface 31, data chaptermemory 50 and standby mode regulator 52 are implemented by themicroprocessor 35 according to programmed software instructions on oneor more computer readable mediums or by digital signal processinghardware or by a combination.

Embodiments of the invention will increase the probability that the GNSSreceiver can acquire and/or track the GPS signals well enough to obtainan accurate position estimate in harsh environments.

In the embodiments of the invention, the interval over which the signalis coherently and/or non-coherently combined is called the integrationtime or the integration interval. Typically both coherent andnon-coherent combining are used. One way to boost the SNR is to increasethe integration time. Another way to boost the SNR, if the phase istracked, is to increase the percentage of the integration time that usescoherent combining.

After using correlations with the PN sequence to synchronize to thetransmitted signal (find frame boundaries, etc), the GNSS receiver cancompute a pseudorange which is the distance from the user to thesatellite plus a time bias. The GNSS receiver can also compute thesatellite's position. Getting the satellite positions requires analmanac or ephemeris that can be decoded from the satellite signalitself, or loaded from some other source. Given the pseudorange to atleast four satellites, and the positions of those satellites, the GNSSreceiver can solve for its position (in three dimensions) and the timebias. Similarly, the GNSS receiver can solve for its velocity and thetime drift (the derivative of the pseudorange).

There are many types of GNSS receiver architectures that can be used toachieve the coherent and/or non-coherent integrations. Two types arecalled a block-based receiver and a loop-based receiver. The block-basedreceiver implements different correlations assuming different alignmentsof the PN sequence with the received signal and different Dopplerfrequencies. When the correlation is used with the correct PN sequencealignment and the correct Doppler frequency the correlation value shouldbe maximized. So the block-based receiver does a two-dimensional peaksearch over the PN sequence alignment (or code-delay) dimension and theDoppler frequency dimension. The code-delay and Doppler frequency areconstantly changing, so before adding (coherently or non-coherently) twodifferent correlations with the PN sequence the estimated code-delaymust be used to align the correlation peaks from different times. Thenwhen multiple correlations are combined the peak becomes larger. Theloop-based architecture generally uses a delay-lock loop (DLL), afrequency-lock loop (FLL), and/or a phase-lock loop (PLL). Somecorrelation combinations (coherent or non-coherent) may be used prior topassing the result into the loops. The DLL tracks the movement of thecorrelation peak in the code-delay dimension, the FLL tracks themovement of the correlation peak in the Doppler frequency dimension, andthe PLL tracks the phase of the correlation peak. Along with the amountof integration done prior to the loops, the loop bandwidths control theeffective integration time of the loops. The loop discriminator controlshow the loop combines the loop inputs; either coherently ornon-coherently. Fundamentally, the loop-based and block-basedarchitectures are both based on using multiple correlations withdifferent code-delay and Doppler frequency hypotheses. The maindifference is in how the correlation combining is done. In aconventional GPS receiver, the loop-based architecture operates on theresult of a coherent combination (typically of no more than 20 ms unlessnavigation data bits are known apriori) and effectively does anon-coherent combination of these coherent combinations. The block-basedarchitecture effectively takes a number of the coherent combinations andprocesses them as one block.

Embodiments of the invention use the fact that the Doppler due to thesatellite motion can be computed from the data transmitted via thedata-bits of the satellite signals themselves. In the GPS system, analmanac is periodically transmitted and remains valid for a month orlonger. This almanac contains parameters that allow the receiver tocompute the Doppler frequency due to the satellite motion for eachsatellite if the approximate position of the receiver is known. Thealmanac also contains parameters that allow the GNSS receiver to computethe position of each satellite and satellite clock corrections.Techniques also exist for extending the length of time for which thealmanac is valid. In the GPS system an ephemeris is also transmitted viathe data-bits modulated onto the satellite signal. The ephemeriscontains more accurate parameters that allow the GNSS receiver tocompute the satellite velocity (and hence the Doppler frequency due tosatellite motion), the position of each satellite and satellite clockcorrections. For geostationary satellites, an estimate of satellitemotion is possible without an almanac or ephemeris because the satellitemotion with respect to a user on earth is approximately zero.

However, the ephemeris transmitted by a GPS satellite is generally onlyvalid for a few hours. But methods also exist to use improved satelliteorbit and motion models to extend the amount of time for which anephemeris can be used.

The GNSS receiver may also implement other methods in addition to thosementioned here. Ionospheric and/or tropospheric corrections are twoexamples of other kinds of corrections that are typical to GNSSreceivers.

If the Doppler frequency between the GNSS receiver and the satelliteswere known, then the GNSS receiver could either increase the coherentintegration time or the total integration time (or both) in order toboost SNR and operate at lower signal levels. Of course in general theDoppler frequency is not known because of errors in estimating satelliteorbits, satellite clock errors, user movement and receiver clock errorsare always changing. However, the Doppler frequency due to satellitevelocity and clock errors can be known from aiding information (almanacand/or ephemeris and/or other aiding source). If the user is stationary,then user movement does not contribute anything to the Dopplerfrequency, which leaves the receiver clock errors as the only unknowncontributor to the Doppler frequency. This makes it easier for thereceiver to estimate the Doppler frequency and therefore operate inlower SNR conditions.

FIG. 2 shows a block diagram of a system embodiment 200. Signalprocessing is provided by Satellite Signal Processor 230. SatelliteDoppler from Aiding Source 210 provides a reliability measure of itself231 to Satellite Signal Processor 230. Clock Drift Estimator 220computes an estimate of the receiver clock drift 220 may also provide areliability measure of itself 223 to Satellite Signal Processor 230.Satellite Doppler from Aiding Source 210 may provide knowledge of howthe Doppler due to satellite motion and/or satellite clock error at theGNSS receiver by combining 212 estimates of the receiver clock drift andDoppler information to get Doppler frequency 213. Motion Detector 240provides measurements about the user's movement. The output of MotionDetector 240 may come from low-cost sensors and/or processing of thesatellite signals. The Main Controller 250 provides sources of otherinformation that may help the GNSS receiver. Alternative PositionEstimator 260 provides a rough estimate of the current user position.Satellite Signal Processor 230 represents how the GNSS receiver can useall these information sources to better process the received signal andsynchronize to the satellites. There are several ways to realize each ofthese blocks that are discussed below.

Getting information about the Doppler frequency from some other methodthan processing the received signal is instrumental to exploitingknowledge of when the user is stationary. Some possible sources of theDoppler frequency are

-   -   1. The last good Doppler measurement includes contributions from        all contributors to Doppler frequency.    -   2. The last good Doppler measurement when user was stationary        includes contributions from all contributors to Doppler        frequency, except user motion is not a contributor in this case.    -   3. Estimates derived from the data-bit messages of the        satellites. For example, in GPS an almanac and/or an ephemeris        may be used to estimate satellite velocity. This only includes        satellite contributions to Doppler frequency. This requires a        rough estimate of the user position. Knowing the user's position        to within one mile is typically good enough to get a Doppler        frequency that is accurate to within 1 Hz for a GPS satellite as        long as the GNSS receiver is stationary. Some ways to get this        rough estimate of the user position are described below.    -   4. Assistance network, like a cellular network which gives        assistance to GNSS receivers. The assistance network may provide        either Doppler frequency estimates directly, or a set of        parameters to help in computing a Doppler frequency estimate.    -   5. Other aiding sources may also provide information to help the        GNSS receiver estimate the Doppler frequency. For example, the        wide-area augmentation system (WAAS) has satellites that        transmit data in a similar manner to GPS satellites over North        America. The messages taken from the data bits modulated onto        their transmissions may be used to help get a more accurate        Doppler frequency estimate. Other similar systems exist for        other parts of the world, and these kinds of systems are        generally known as Satellite Based Augmentation Systems (SBAS).

Clock Drift Estimation

Even if the user is stationary, the GNSS receiver clock can drift. Inmost cases the drift can be assumed to be negligible during theintegration. If the integration time is long or includes data separatedin time, then clock drift may not be negligible. Some unfavorable eventscan also cause unusually high clock drift. An example of an unfavorableevent is when the GNSS receiver is in close proximity to a modem (suchas cellular or Bluetooth modem) which is transmitting and which can heatup the receiver's clock and worsen its drift. Some ways to overcomeclock drift are listed below:

-   -   1. If the pseudorange of at least one satellite can be estimated        and the GNSS receiver has access to an estimate of the user        position, then the clock bias and/or the clock drift can be        estimated. In this case, the only unknown in the pseudorange is        the clock bias, and if the user is stationary the only unknown        in the pseudorange rate is the clock drift.    -   2. If the Doppler frequency can be estimated for at least one        satellite, then the clock drift can be estimated (without        knowing the receiver position) by comparing the estimated        Doppler frequency to the Doppler frequency from the aiding        source when the user is stationary (the aiding source may        require an approximate receiver position). The difference in the        two Doppler frequencies is primarily due to clock drift, and so        can be used to estimate clock drift. So the receiver can        maintain an estimate of the clock drift and/or clock bias by        processing only one satellite signal. The clock drift and/or        clock bias estimates thus obtained can be used to enable other        satellite signals to be acquired more efficiently. This can be        achieved by adding the clock drift estimate to the approximate        Doppler frequency estimate of each SV around which the receiver        is searching. Or by accounting for the impact of the sub-ms        portion of the clock bias in the location of the correlation        peak being searched for.        -   a. As a specific example of this embodiment, a Kalman filter            is used to track position (x, y, z), velocity (dx, dy, dz),            clock bias (b) and clock drift (db). If the motion detector            determines the user has not moved then the position states            will not change and the velocity states are zero. This            leaves only two states (b and db) to be estimated. Only one            SV signal is sufficient to estimate these states (using more            SV signals may improve the accuracy of the estimation), and            the other SV signals can be processed using the updated            clock drift estimate. The Kalman filter state definition            could be changed when the motion detector determines the            user to be stationary, but a preferred implementation is to            provide new measurements to the Kalman filter. Multiple            measurements could be given. For example, x=previous x,            y=previous y, z=previous z, dx=0, dy=0, and dz=0, along with            the corresponding uncertainties from the sensor module.            Alternatively, the motion detector can provide a single            speed measurement to the Kalman filter, along with a            corresponding uncertainty. Co-pending application U.S.            Provisional application Ser. No. 12/xxx,xxx, filed on Sep.            24, 2009, entitled LOW-COMPLEXITY TIGHTLY-COUPLED            INTEGRATION FILTER FOR SENSOR-ASSISTED GNSS RECEIVER,            (Docket Number TI-67103) shows how to add speed measurement.    -   3. If another reference signal is available, the GNSS receiver        can use it to track its own clock drift.    -   4. Assume the clock drift from the last good measurement is        still valid.    -   5. Assume the change in clock drift is negligible, the estimated        clock drift would then be constant.

Motion Detector

Detecting when the user is stationary is an important part of thissystem. The Motion Detector 240 may either be based on the satellitesignals, or on a signal from low-cost sensors.

In some cases, the GNSS receiver may be able to detect when the userstops moving even though it cannot track all the satellite signals. Forexample, if the estimated user speed is below a threshold it can bedeclared as stationary. Or the user's estimated speed can be the outputof the Motion Detector 240.

Low-cost sensors can give some useful information even if they don'tprovide a complete navigation system. Using sensors to compute alikelihood that the user is stationary, or simply to detect when theuser is stationary, and/or an upper bound on user displacement are threespecific sensor outputs that can help the GNSS receiver improveperformance.

Below are some ways to implement the Motion Detector 240:

-   -   1. Use one or more accelerometers with or without calibration to        detect when the receiver is stationary. The following are some        example metrics. These metrics can be output directly as a        likelihood the user is stationary, or they can be compared        against a threshold to declare the user as stationary or        non-stationary. The metrics include, but are not limited to:        -   a. The variance of the magnitude of the acceleration            measurement,        -   b. the variance of the acceleration measurements,        -   c. the mean of the magnitude of the acceleration            measurements,        -   d. the mean of the acceleration measurements,        -   e. a combination of the mean and/or variance,        -   f. approximations of the mean and/or variance,        -   g. the peak-to-peak distance in the magnitude of the            acceleration measurement, and        -   h. the peak-to-peak distance in the acceleration            measurements.    -   2. Use calibrated accelerometers to measure movement in        different directions.    -   3. Use a pedometer to detect minimal movement with or without        calibrated sensors. One way to implement a pedometer is to use        accelerometers. The frequency of steps can be used to estimate        user velocity by using an estimated step length.    -   4. The functionality of the sensor system can even be        implemented by the GNSS receiver itself. For example, in an        urban canyon environment very few satellites may be cleanly        visible. From the satellites it can see the GNSS receiver may be        able to tell when the user is stationary or nearly stationary.        It can then use the fact that the user is stationary to try and        improve processing of other satellites.        -   a. if speed is less than a threshold then user can be said            to be stationary.            -   i. speed could be estimated as the magnitude of the                estimated velocity vector. The speed could be a three                dimensional speed, or a horizontal speed, or even an one                dimensional speed.        -   b. if the residual Doppler frequency (after subtracting the            component due to satellite motion) for at least two            satellites is nearly the same then user is likely to be            stationary. In this case the clock drift is the main            component in the two residual Doppler frequencies.

When the GNSS receiver is co-located with other devices, the controllerof the device may be able to provide some useful information.Specifically, in this system, if the controller of the device hasknowledge about other things going on in the device that may affect theDoppler frequency between the GNSS receiver and the satellites, thenthat can be useful. One example of an ‘unfavorable event’ that may causeincrease receiver clock drift is when a co-located modem istransmitting. This can heat up the GNSS receiver and cause its clock tohave increased drift. When such an event occurs in the device below aresome ways that its effect can be mitigated.

-   -   1. The controller communicates to the GNSS receiver whenever any        of these ‘unfavorable events’ are happening. The GNSS receiver        treats this event as if the user is not stationary, i.e. it does        not increase integration time whenever it is informed about such        events.    -   2. Use handshaking between GNSS receiver and the controller. For        example, the GNSS receiver informs the phone about the        difficulty of the scenario and the need for larger integration        periods (during which the rest of the device has to avoid events        that may increase clock drift), and the controller decides        whether to accept/reject the request. An example of handshaking        is disclosed in co-pending U.S. patent application Ser. No.        12/394,404, filed on Feb. 27, 2009, entitled METHOD AND SYSTEM        FOR GNSS COEXISTENCE. Said application incorporated herein by        reference.

Alternative Position Estimator 260 is used to provide a rough positionestimate which may be useful to help obtain the satellite Doppler and/orthe clock drift as mentioned above. Some ways to get a rough estimationfor the user position are listed below. In some cases it is acceptablefor this position estimate only be accurate to within about a mile oreven worse.

-   -   1. Use last known position.    -   2. Use last known position, if the maximum displacement from the        sensor is below a threshold.    -   3. Use coarse position estimate from another aiding source like        a cellular assistance network    -   4. Use the position estimate from a co-located position        estimator using non-GNSS signals.        -   a. The alternative position estimator may use cellular            signals from one or more base stations to get an            approximation of its position.        -   b. Other non-GNSS signals may also exist, or be developed in            the future that can allow a device to approximate its own            position. Digital TV broadcasts for example, or ultra            wideband (UWB) signals and the like which are known in the            art or equivalents which may be developed in the future.        -   c. The user could tell the GNSS receiver the approximate            location (zip code, address, etc).        -   d. Proximity to another device that is communicating its            position or whose position is otherwise known.        -   e. An assistance network could communicate an approximate            position to the GNSS receiver.

The Satellite Signal Processor 230 uses information from some or all ofthe other system blocks to try to improve its performance in harshenvironments. Several ways to improve performance based on thisinformation are discussed below.

First of all, the integration time can only be extended beyond normallimits when the user is stationary and there are no ‘unfavorable events’occurring in the device. The Satellite Signal Processor 230 may monitorthe signals from the sensors and the Main Controller 250 to know whenboth conditions are satisfied. For the occasions when these conditionsare satisfied the user is said to be stationary. The user doesn't needto be exactly stationary for these methods to work. Sometimes negligiblemotion will not add significantly to the Doppler frequency seen by thereceiver. The sensors may signal to the GPS receiver either theestimated amount of motion or simply an indication of whether the motionis negligible or not. For this purpose, the Motion Detector 240 maydefine categories of motion such as stationary, walking, stationary inan automobile, driving in an automobile, bicycle, etc. Likewise the MainController 250 may communicate how severely the ‘unfavorable event’ mayaffect the GNSS clock. In some cases the GNSS receiver may choose toignore one or more of the signals from the sensors and/or one or more ofthe signals from the Main Controller 250. For example, if the GNSSreceiver is already tracking its position and doesn't need any help itmay ignore the signal from the sensors that the receiver is stationary.Or in another example, the GNSS receiver may be designed to disregardany ‘unfavorable event’ messages.

Even in the absence of an inertial navigation (IN) system to aid theGNSS receiver the proposed methods can be used. For example, if thesignal levels for the satellites the GNSS receiver is tracking all fallto very low values for a period of time, the GNSS receiver can assumethat it has moved indoors or into some other harsh environment and sobegin trying to boost the SNR. In this embodiment, the GNSS receiverprocesses the received signal to replace the functionality (or augmentit) of the sensors.

Once the GNSS receiver knows that the user is stationary it can use thisinformation in several ways. First, if the satellite signals are veryweak then it can increase the SNR boost from integration by increasingcoherent integration time, non-coherent integration time, or both. Thisextra SNR boost can be achieved in a variety of ways depending on thearchitecture of the GNSS receiver. The basic idea is to use the Doppleraiding information from the aiding source and/or the clock driftestimator to extend the integration time beyond normal limits andtherefore allow for increased SNR boosting. A second way the GNSSreceiver can exploit the fact that it knows when the user is stationaryis to integrate across multiple intervals when the user is stationarywhile skipping the interval when the user is not stationary. A third useof this information is to make re-acquisition of satellites easier. Afourth use of this information is to correct the Doppler frequency usedto process one or more satellites.

Embodiments of the invention may be used with any receiver architecture.Below a detailed description is given for two example architectures.

The loop-based tracking module may contain delay-lock loop (DLL),frequency-lock loop (FLL), and/or phase-lock loop (PLL). Each may have aunique bandwidth. If there are not any user dynamics, then the bandwidthon these loops may be tightened.

Referring now to FIG. 3 which is a block diagram illustrative of areceiver system 300 in accordance with an embodiment of the invention.The RF frontend 310 is coupled to an antenna 301 to receive signals,correlator engine 320, loop-based tracking 330, and GNSS receiverprocessing 340 modules represent a GNSS receiver. Here, the correlatorengine 320 may include coherent combining and the loop-based tracking330 effectively does non-coherent combining. Therefore, adjusting thebandwidth is equivalent to adjusting the non-coherent and coherentcombining. The amount of coherent combining could be changed as part ofthe adjustment as well.

The GNSS receiver processing module 340 may pass user dynamics such asvelocity and/or acceleration into the bandwidth controller 350. Thesensor module 360 passes measurements of user dynamics to the bandwidthcontroller 350. This could be estimates of user acceleration, userspeed, or user velocity or a binary indication of whether the user ismoving. The bandwidth controller 350 uses inputs from the sensor module360 and/or the GNSS receiver processing module 340 to make a decision onthe best loop bandwidth for the DLL, FLL, and/or PLL (they can haveunique bandwidths). One part of the decision is driven by the SNR of thesignal, because if the SNR is high then there is no benefit totightening the loop bandwidth. In one embodiment, if the SNR for thesignal is below a threshold and the user movement is determined to bestationary, then the loop bandwidths can be set to a minimum value. Inother embodiments, if the SNR is below a threshold S1, and the usersestimated speed is below a threshold V1, then the loop bandwidths areset to predetermined value B1. But if the SNR is below a threshold S2,and the users estimated speed is below a threshold V2, then the loopbandwidths are set to predetermined value B2. Multiple of thresholds maybe predefined.

-   -   1. When the receiver uses a DLL to track code-delay and an FLL        to track Doppler frequency some ways to effectively increase the        integration time are:        -   a. Lower the loop bandwidths of the DLL and FLL and inject            the known Doppler frequency (from “Satellite Doppler from            aiding source” block) into the FLL and DLL. Depending on the            design lowering the order of the loops may also be helpful.        -   b. Lower the loop bandwidths of the DLL and FLL and inject            the known Doppler frequency only into the FLL. Then, the            Doppler frequency estimate of the FLL can be used to aid the            DLL. Depending on the design lowering the order of the loops            may also be helpful.        -   c. The bandwidths of the FLL and DLL can be changed            dynamically according to the estimated motion from the            sensors. For example, if the user is stationary, the            bandwidths can be reduced.        -   d. Assume the given Doppler frequency is correct, so that            the FLL is not necessary. Now the DLL can be aided with the            known Doppler frequency directly instead of by the Doppler            frequency from the FLL.        -   e. Increase the coherent integrations done prior to the            loops. This may require knowledge of the data bits.        -   f. A phase locked loop (PLL) is sometimes used to track            carrier-phase to aid the DLL and/or FLL. It is even possible            to replace the functionality of the FLL with the PLL. So the            above embodiments can be applied to a PLL as well.    -   2. Block-processing receiver        -   a. Limit the two-dimensional peak search to a small number            of Doppler frequency hypotheses around the given Doppler            frequency.        -   b. The given Doppler frequency can also be used to properly            add up the correlations over a longer duration (either            coherently or non-coherently) thereby increasing the            integration time and the SNR.

3. Methods 1 and 2 may use a combination of coherent and/or non-coherentintegrations. Using coherent integrations provides more SNR gain. So insome cases increasing the coherent integration time without increasingthe overall integration time can give some SNR gain.

-   -   4. In both loop-based and block-based architectures it may be        helpful to buffer the incoming signal if there is a delay in the        motion detector's detection of user movement.

In general the integration time will be non-coherent if the integrationinterval straddles a data-bit boundary. Typically, the result of shortercoherent integrations are combined non-coherently. Also depending on theGNSS system there is a limit to the duration of coherent integrationsbecause of the data bits modulated onto the signal. However, it ispossible to first remove the data bits if they are known or can bereliably estimated beforehand. If the data bits are removed thencoherent integration over a longer interval is possible.

In practical use, the user may not be stationary for long enough toadequately boost the SNR of the signal. For example, it is shown in F.van Diggelen, “Indoor GPS theory & implementation,” IEEE PositionLocation and Navigation Symposium, pp 240-247, April 2002 (incorporatedherein by reference) that to detect satellite signals at −156 dBm and−160 dBm requires ten and thirty seconds of integration, respectively.It is often impractical to assume the user is stationary for such a longtime. Then as the user moves the Doppler frequency can changesignificantly and if the receiver continues to process the signal whilethe user moves with an inaccurate Doppler estimate the effective SNRwill be reduced—perhaps causing satellite tracking to fail. Detection ofwhen the user is stationary can be used to combat this degradation ifthe GNSS receiver only processes the signal when the user is stationaryand blanks out the signal the rest of the time. If the Doppler frequencyis known for the intervals when the user is stationary the receiver canprocess only these intervals and thereby boost the SNR enough to trackand/or acquire the satellite. A specific example of this for loop-basedreceivers is to use a 2-to-1 multiplexer to input zeros into the loopswhile the user is moving and pass the usual samples into the loops whilethe user is stationary so that the user caused changes in Dopplerfrequency do not distort the state of the loops.

The processing of the received signal is typically based on coherentlyor non-coherently combining multiple correlations with the known PNsequence. Since the satellites are in constant motion the distance fromthe user to the satellite is constantly changing. This causes thelocation of the correlation peak to move as well. The movement of thepeak is proportional to the Doppler frequency of the satellite. Whencombining the results of multiple correlations, the GNSS receiveraccounts for this peak movement using its estimate of the Dopplerfrequency. Therefore, the GNSS receiver can combine correlation resultsseparated by an arbitrary time gap as long as the Doppler frequency isproperly accounted for. In the proposed solution, the Doppler frequencydue to satellite movement is known from the almanac or other aidingsources for the intervals when the user is stationary and for otherintervals when the user is not stationary. So the GNSS receiver canprocess the signal from the stationary intervals together while skippingover the intervals when the user is not stationary in order to boost SNRenough to track or re-acquire a satellite signal.

FIG. 4 is a block diagram illustrative of a block-based receiver 400.The amount of non-coherent combining 470 is defined by the dwell timeused by the receiver. For example, many GPS receivers do 20 ms ofcoherent combining (as part of the correlator engine 320) and thennon-coherently combining 470 combines 50 samples so that a newmeasurement is obtained every second. In that typical case, the dwelltime is 1 sec and that dwell time configuration is specified as a (M,N)combination where M=20 and N=50. In general, the parameters M and N canbe changed to improve the SNR gain with or without increasing theduration of the dwell time; herein this is referred to as adjusting thecoherent and/or non-coherent combining. Adjusting the coherent and/ornon-coherent combining is also referred to as adjusting the bandwidth ofthe block-based receiver; increasing the bandwidth is equivalent todecreasing the dwell time and decreasing the bandwidth is equivalent toincreasing the dwell time. At low SNR more coherent and/or non-coherentcombining may be necessary in which case the dwell time may increase (Ifmore coherent combining and less non-coherent combining are done thenthe duration of the dwell time may not increase even though processinggain is increased). The dwell time controller 480 controls how muchcoherent and non-coherent combining 470 is done. The dwell time iscontrolled on a per a satellite basis. The dwell time can differ foreach satellite being tracked.

If the sensor module 460 detects that the user is stationary, and theSNR for one or more satellites is such that more combining may berequired, then the dwell time controller 480 adjusts coherent and/ornon-coherent combining.

-   -   -   a. Alternatively, the GNSS receiver 440 may be required to            confirm the user is stationary.        -   b. Alternatively, the GNSS receiver 440 may provide the data            bits to allow for extended coherent integration (beyond 20            ms for GPS).

FIG. 5 is a block diagram illustrative of a block-based receiver inaccordance with a further embodiment of the invention. In thisembodiment 500, if the motion detector 590 determines the user is movingsuch that the Doppler frequency will be distorted enough to impairreceiver performance, it can have zeros input 505 into the correlatorengine 320 multiplex through MUX 515 with input from RF frontend 310until the user movement returns to a more acceptable level. As oneskilled in the art can appreciate, this implementation could beaccomplished without a mux as well. For example, the incoming signalcould be multiplied by the mux selector value; a value of 1 leaves thesignal unchanged and a value of zero passes a zero—also known asblanking the signal. Or the input to the correlator engine can just beoverwritten with zeros.

Loop-based receiver: When the user is stationary the loops process thesignal normally. When the user is not stationary the input to the loopsis forced to zero so that the loop state is not affected by the signalwhile the user is moving. When the user stops again, the Dopplerfrequency can again be injected into the tracking loops or it can beassumed that the Doppler frequency hasn't changed. While skipping overthe time when the user is not stationary the tracking loops will assumethe correlation peak movement continues at the same rate. Alternatively,the clock drift could be estimated separately. Then when the user isstationary again the loops can continue processing without interruption.If the gap skipped over is long, then the Doppler frequency in the loopscan be updated periodically the same as they would be when processingthe signal while the user is stationary.

Block-processing receiver: The block processing receiver can operatenormally except that when the user is not stationary, the correlationresults are forced to zero. Also, the time when the correlation resultsare forced to zero should not count towards the total integration time.

It is even possible to process the full satellite signal and only thepart of the signal when the user is stationary separately in the sameGNSS receiver. That way there wouldn't be any unnecessary delay in theGNSS receiver's ability to track the satellite signal when its signallevel rises.

Another way the sensors can help the GNSS receiver is by estimating themaximum displacement since some time in the past. For example, it cankeep an estimate of the maximum displacement since the GNSS receiverlast used the satellites to get its position. If that maximumdisplacement is less than a threshold (if the sub-ms portion of thepseudorange is unchanged) then the location of the GNSS receiver isknown roughly and some tricks can be used to help it track satelliteswith weak signals. For example, if the receiver knows GPS time to within1 ms and it knows the position of each SV (via the ephemeris or almanacfor example) and it knows its own position, roughly, the GNSS receiveronly needs to find the correlation peak in order to get a pseudorange tothe SV. In other words the receiver can avoid the frame synchronizationthat is usually required before a satellite can be tracked.

Also if the GNSS receiver knows its approximate position and thecode-delay to one satellite it can compute the approximate code-delay ofthe other satellites. This is possible because the satellite positionsare known, and the clock bias can be estimated from the one satellitethat is already acquired.

It may happen that the receiver's estimate of the Doppler frequency fromone or more satellites may become corrupted hurting how well thereceiver tracks the correlation peak and therefore hurting the overallperformance. There may be many causes of this. For example, thesatellite may be temporarily blocked, or there could be temporaryinterference. When the user is stationary, the receiver has anopportunity to correct the Doppler frequency it uses to process thesatellite signals. By replacing its own corrupted Doppler frequencyestimate with the Doppler frequency estimate provided by the aidingsource it can regain lock on the satellite signal quicker.

Alternatively, the receiver could continue trying to process thesatellite signal with its own Doppler estimate and simultaneously starta separate process to track the same satellite signal using the Dopplerfrequency from the aiding source. This will allow the receiver toevaluate which Doppler frequency estimate is better. It may be prudentto only start these “extra” processes for satellites whose Dopplerfrequency estimates are significantly different than those provided bythe Doppler aiding source.

FIG. 6 is a block diagram illustrative of a receiver in accordance witha further embodiment of the invention. Receiver 600 includesNon-coherent Combining or Loop-Based Tracking 610 in this embodiment.

FIG. 7 is a block diagram illustrative of an uncertainty in a GNSSreceiver in accordance with an embodiment of the invention. In thisembodiment of GNSS receiver system 700, when it is acquiring a satellitesignal, searches over multiple time delay and Doppler frequencyhypotheses around an initial estimate of each. The initial estimate cancome from an assistance source, or be an arbitrary value if no aprioriinformation is available. The number of hypotheses that are required isdetermined by the uncertainties in time and frequency. For example, ifthe initial frequency estimate is f0 and the frequency uncertainty is250 Hz, then the set of frequency hypotheses should cover a range offrequencies f0±250Hz with some minimum distance between hypotheses.Generally speaking, the size of the frequency uncertainty depends on thequality of the initial estimate, the maximum user velocity, and themaximum clock drift. In this embodiment, the Search Controller 725determines the frequency uncertainty assuming no user motion. Then theMotion Detector 590 determines the frequency uncertainty due to usermotion. The two uncertainties are combined 735 (just an addition, or thesquare-root of the sum of the squares) to give the total uncertainty. Iffor any reason the motion detector 590 is unable to get a reliable usermotion estimate, it outputs the uncertainty corresponding to the maximumallowed user velocity. The Motion detector 590 may also scale thefrequency uncertainty due to user movement by the cosine of theelevation angle of the satellite being acquired. The simplest embodimentis to output zero uncertainty due to user motion if the motion detectorfinds the user to be stationary, and output the maximum uncertainty dueto user motion otherwise. This embodiment can be used when the receiverfirst begins searching for satellite signals before getting its firstposition fix. It can also be used when the receiver is already trackingother satellite signals in order to reduce the time necessary to acquireor re-acquire another satellite signal.

Here are some examples of scenarios where the proposed techniques can bebeneficial.

-   -   1. Moving from an environment where normal GPS operation is        sufficient into a harsh environment where longer integration        time is needed.        -   a. In this context a harsh environment is any environment            that causes the signal level of any satellite to drop so low            that it requires extended integration time and the GNSS            receiver still chooses to try to track the satellite.        -   b. Typical harsh environments would be indoors where there            may be as few as one strong satellite, or no strong            satellites. Also parking garages, etc where there is severe            attenuation of satellite signals.    -   2. GNSS receiver start-up in a harsh environment when updated        ephemerides and/or almanac are available or the aiding        information is available from some other source. The same        benefits would apply after the GNSS receiver gains access to        this aiding information.    -   3. GNSS receiver start-up when neither almanac, ephemerides, nor        other aiding networks are available. For example, if the user        can input their approximate position then the sensor information        can help.    -   4. Correct Doppler estimates during normal operation when the        user is stationary—even if the environment is not harsh. If the        receiver has locked onto the wrong Doppler frequency or        code-delay for some reason it could correct itself using these        proposed techniques. This often happens in deep urban canyon        scenarios, and the proposed solution can sometimes be        implemented even without sensors.

FIG. 8 is a flowchart illustrative of a method in accordance with anembodiment of the invention. Method 800 begins by receiving a signalfrom at least one satellite 810. An assistance Doppler frequency isobtained from aiding source at 820. At 830, an estimate of Dopplerfrequency is obtained. If the user is stationary or has negligiblemotion 840, a comparison is made between the estimated Doppler frequencyand assistance Doppler frequency 850. The difference between theestimated Doppler frequency and assistance Doppler frequency is used toestimate clock drift 860.

FIG. 9 is a flowchart illustrative of another method in accordance withan embodiment of the invention. Method 900 begins by combining aplurality of correlator engine outputs 910. At 920, a plurality of userdynamics are sensed via sensors. The bandwidth of loop or loops areadjusted 930. The bandwidth value is changed depending on if user isstationary and signal to noise ratio (SNR) is below a threshold 940. Thebandwidth is change to a first value if the user is stationary or hasnegligible motion and SNR below a theshold 950 or to a second value ifthe user is not stationary and SNR below a theshold 960.

Many modifications and other embodiments of the invention will come tomind to one skilled in the art to which this invention pertains havingthe benefit of the teachings presented in the foregoing descriptions,and the associated drawings. Therefore, it is to be understood that theinvention is not to be limited to the specific embodiments disclosed.Although specific terms are employed herein, they are used in a genericand descriptive sense only and not for purposes of limitation.Applicants specific define “plurality” to mean 1 or more.

1-24. (canceled)
 25. A method of adjusting a bandwidth of a receiver,said method comprising: combining a plurality of correlator engineoutputs; sensing a plurality of user dynamics; and adjusting saidbandwidth.
 26. The method of claim 25, wherein said combining mayinclude a combination of both coherent and non-coherent combining. 27.The method of claim 25, wherein said receiver is a block-based receiver.28. The method of claim 25, wherein said receiver is a loop-basedreceiver further comprising a plurality of loops and adjusting saidbandwidth comprises adjusting said bandwidth of at least one of theplurality of loops.
 29. The method of claim 28, wherein said loops areselected from the list comprising: delay-lock loop (DLL); frequency-lockloop (FLL); and phase-lock loop (PLL).
 30. The method of claim 27,wherein said bandwidths of said loops are unique bandwidths.
 31. Themethod of claim 27, wherein said bandwidths of said loops are changeddynamically according to changes in the sensed plurality of userdynamics.
 32. The method of claim 25, wherein only a portion of thesignal corresponding to when said user is stationary as determined by amotion detector is used in processing.
 33. The method of claim 25,further comprising: changing said bandwidth of said plurality of loopsto a first value if said user is stationary and a signal-to-noise (SNR)is below a threshold; and changing said bandwidth of said plurality ofloops to a second value if said user is not stationary and asignal-to-noise (SNR) is below a threshold.
 34. The method of claim 25,further comprising integrating over multiple stationary intervals asdetermined by a motion detector, said integrating comprising: forcing tozero a plurality of correlation results, when user is not stationary asdetermined by a motion detector; and refrain from counting a time whensaid plurality of correlation results are forced to zero toward a totalintegration time.
 35. The method of claim 25, further comprisingintegrating over multiple stationary intervals as determined by a motiondetector, said integrating comprising: forcing to zero an input to saidloops, when user is not stationary; and resuming normal processing whenuser is stationary as determined by a motion detector.
 36. (canceled)37. (canceled)
 38. The method of claim 35, further comprising:outputting a zero uncertainty if a motion detector detects a user to bestationary or detects negligible motion; and outputting a maximumuncertainty if said motion detector finds said user to benon-stationary.